61 results about "Six-bar linkage" patented technology

The invention discloses a suspension type drive device for an electric frame, which comprises a traction electric machine, a gear box and a six-link mechanism that are suspended on a truck frame, wherein the traction electric machine is directly connected with a pinion shaft of a pinion in the gear box through an elastic coupling, the pinion is externally meshed with a bull wheel positioned in the gear box, a bull wheel core of the bull wheel is connected with a hollow shaft of the six-link mechanism through an end tooth transmission disk, and the six-link mechanism is connected with a wheel through six links. The traction eclectic machine, the gear box, the hollow shaft of the six-link mechanism, the traction eclectic machine, the elastic coupling and an electric machine suspension beam form an integral drive unit, one side of the drive unit is suspended on the beam of the truck frame through a suspension rod of the gear box in a swinging manner, and the other side is connected with the beam of the trunk frame through an electric machine suspension seat. The invention can solve the problem of transverse unstability of an express locomotive, and can greatly prolong the service life of a transmission gear and an electric machine bearing of a high-power locomotive.

The invention discloses a door hinge of an embedded refrigerator and the embedded refrigerator, and relates to the technical field of refrigeration equipment. The door hinge of the embedded refrigerator and the embedded refrigerator are designed in order to resolve the problems that an existing door hinge of the embedded refrigerator is large in size, large in installation size and the like. The door hinge of the embedded refrigerator comprises a fixed hinge seat, a movable hinge seat, a long swinging rod, a first short swinging rod, a second short swinging rod and a third short swinging rod, wherein one end of the long swinging rod is hinged to the fixed hinge seat, one end of the first short swinging rod and one end of the second short swinging rod are hinged to the long swinging rod, the other end of the first short swinging rod and the other end of the second short swinging rod are hinged to the movable hinge seat, one end of the third short swinging rod is hinged to the fixed hinge seat, and the other end of the third short swinging rod is hinged to the second short swinging rod. The invention further provides the embedded refrigerator with the door hinge. The fixed hinge seat, the movable hinge seat, the long swinging rod and the three short swinging rods of the door hinge of the embedded refrigerator form a six-connecting-rod mechanism, opening and closing of the door of the embedded refrigerator are achieved, and the occupied space and the installation size of the door hinge of the embedded refrigerator are reduced.

The invention relates to a symmetrical toggle rod pressure transmission mechanism belonging to the field of connecting bar transmission mechanisms. The toggle rod pressure transmission mechanism comprises toggle rod mechanisms, a drive block, a slide block and a rack, wherein two toggle rod mechanisms are symmetrically arranged at both sides of an axis of a drive rod positioned in the center of the mechanism; each toggle rod mechanism comprises an upper toggle plate, a lower toggle rod and a middle connecting bar, wherein the upper toggle plate is respectively connected with the lower toggle rod, the middle connecting bar and the rack through a toggle rod hinge, a connection hinge and an upper beam hinge, the other end of the lower toggle rod is connected with the slice block through a slide block hinge, and the other end of the middle connecting bar is connected with a driving slide block through a driving hinge; and a segment taking the axle centers of the two connection hinges as endpoints is always intersected with a straight line passing through the axle center of the upper beam hinge and the axle center of the toggle rod hinge positioned at the same side with the upper beam hinge. Compared with the traditional symmetrical six-bar mechanism, the invention has good force-increasing effect, relative uncomplicated stress of a load-bearing shaft, difficult breakage, low total height of the mechanism, and the like.

The invention discloses a gait training device for people with walking disability. Using motors and six-bar linkage mechanism, the invention can guide users' ankles to follow preferred gait trajectories, and thus help people with walking disability practice correct gaits.

The invention relates to a toggle lever pressure transmission mechanism, belonging to the field of connecting rod transmission mechanisms; the toggle lever pressure transmission mechanism comprises toggle lever mechanisms, a driving block and a sliding block. Each toggle lever mechanism comprises an upper toggle plate, a lower toggle rod and a middle connecting rod. The upper toggle plate is respectively connected with the lower toggle rod, the middle connecting rod and a machine frame through a toggle rod hinge, a connecting hinge and an upper beam hinge, the other end of the lower toggle rod is connected with the sliding block through a sliding block hinge, the other end of the middle connecting rod is connected with the driving block through a driving hinge; in each toggle lever mechanism, a line segment taking axes of the driving hinge and the connecting hinge as the end points, and a straight line passing through the axes of the upper beam hinge and the toggle lever hinge are in the same plane and maintain not to be intersected in the whole working process of the mechanism. Compared with the symmetrical six-bar linkage mechanism, the toggle lever pressure transmission mechanism has good reinforcement effect, relatively-uncomplicated force application of the load bearing shaft, is not easy to be broken and has low mechanism overall height.

The invention relates to a connecting-rod pressure transmission mechanism of an intermediate connecting plate, belonging to the field of a connecting-rod transmission mechanism. The connecting-rod pressure transmission mechanism comprises two connecting rod mechanisms, a driving block, a sliding block and a machine frame, wherein the two connecting rod mechanisms are symmetrically arranged at the two sides of the axis of a diving rod in the center of the mechanism; each connecting rod mechanism comprises a frame connecting rod, a lower connecting rod and the intermediate connecting plate; the intermediate connecting plate is respectively connected with the driving block, the frame connecting rod and the lower connecting rod by a driving hinge, an upper hinge and a lower hinge; the other end of the lower connecting rod is connected with the sliding block by a sliding block hinge, and the other end of the frame connecting rod is connected with the machine frame by a machine frame hinge. Compared with a present symmetrical six-link mechanism, the connecting-rod pressure transmission mechanism of the intermediate connecting plate has the characteristics of high idle stroke speed and short single-trip time under the condition of equivalent force-increasing effect so as to well adapt to high-speed working, and has the advantages of relatively non-complex force bearing of a load-bearing shaft, hard breaking-off and small total height of the mechanism.

The invention relates to a power-driven nursing bed provided with a flexible connection leg bending and stretching mechanism, comprising a bed board, a bed frame, a linear push rod and a leg bending mechanism, wherein the linear push rod, a side link and the bed frame form a four-bar linkage, the side link, a connecting rod, a second leg bending side link and the bed frame form another four-bar linkage, a telescopic link, the second leg bending side link, a leg bending connecting rod, a foot bed board, a first leg bending side link and the bed frame form a six-bar linkage, and the two four-bar linkages and the six-bar linkage are combined into the flexible connection leg bending and stretching mechanism which converts the rotation of a motor and the telescopic motion of the linear push rod into up-down motion of the bed board of the foot bed board and controls the foot bed board to be lifted and laid flat. The power-driven nursing bed can realize reliable leg bending and stretching motion, the use comfortableness is improved as flexible connection is adopted, and the dual functions of ascending when the leg is bent and laying the leg when the leg is bent can be realized, thus the power-driven nursing bed is applicable to popularization and application.

The invention discloses a single movable arm forward six-bar linkage power quick-change operating device for a loading machine, which comprises a front frame, a movable arm, a rotating bucket oil cylinder, a movable arm oil cylinder, a swing arm, a draw bar, a quick-change device and an accessory; a forward six-bar linkage consists of the front frame, the movable arm, a bucket, the draw bar, the swing arm and a swing arm oil cylinder; the movable arm is in a structure of a single movable arm box body; two hinge joints on the quick-change device are two hinge joints of the six-bar linkage and are also two hinge joints of the accessory; and the quick-change device adopts power quick change. The single movable arm forward six-bar linkage power quick-change operating device can reduce the bending moment endured by the operating device effectively and improve the capability of bending resistance and torque resistance, has a much simple and reasonable structure and greater unloading height and unloading distance, and is convenient for performing the diversified design of the accessory; and by adopting the power quick-change device, operators can replace the accessory without leaving a driving cab, so the efficiency of replacing the accessory is improved greatly.

The invention provides a double-toggle-joint, connecting rod, linear and parallel clamping and self-adapting type finger device of a robot hand, and belongs to the technical field of robot hands. The double-toggle-joint, connecting rod, linear and parallel clamping and self-adapting type finger device of the robot hand comprises a rack, two finger sections, two housings, two joint shafts, a motor, a plurality of connecting rods, three spring parts, a guide rail and a slide block. With the adoption of the device, fingers of the robot hand can linearly parallelly clamp and adaptively grab, in particularly can clamp a thin-wall workpiece. According to the double-toggle-joint, connecting rod, linear and parallel clamping and self-adapting type finger device of the robot hand, a crank block mechanism meeting a certain condition is utilized to achieve the linear movement of a remote joint shaft and a near joint shaft; a four-connecting-rod mechanism and the spring parts are used in match to remain the second finger section relative to the first finger section at the same location, thus achieving parallel movement; a six-connecting-rod mechanism and the spring parts are used in match to achieve the self-adaptive grabbing function, so as to adapt to grab articles with different shape and size. Therefore, the grabbing range is large, and the grabbing stability and reliability can be ensured; one motor can be used for driving the two finger sections. The device is simple in structure, and low in cost of processing, assembling and repairing.

Disclosed is a six-bar linkage positioning mechanism mounted inside a clean container formed of a locating member and a four-bar linkage and a driving module which, when moved, has the slide of the driving module stopped at the base of the cleaning container and be forced to move upwards relative to a sliding way inside the locating member and to cause the driving link of the driving module to drive the four-bar linkage upwards and to further force the second link of the four-bar linkage to push workpieces in respective insertion slots in a cassette on the clean container. The six-bar linkage positioning mechanism has only one degree of freedom so that it moves workpieces horizontally in the cassette into position by means of contact at a point, preventing contamination due to friction and also improving moving stability.

The present invention discloses a fully-automatic high-speed wide air-jet loom. It includes fully-automatic control system, beating mechanism, double fabric pressing-on roller and back beam. The hardware of the above-mentioned fully-automatic control system includes main control plate, electronic warp let-off plate and liquid crystal touch screen, on the main control plate, electronic warp let-off plate and liquid crystal touch screen are respectively set CPU, between main control plate and electronic warp let-off plate they are connected by means of I / O and bus extension interface, the communication between main control plate and liquid crystal touch screen can be implemented by means of serial interface, the above-mentioned CPU adopts 16-bit computer on a chip and utilizes on -line programmable unit and storage unit whose capacity is above 128 KB. The described beating mechanism is a six bar linkage beating mechanism.

The invention discloses a portable six-bar linkage type tape sealing machine. The machine is characterized in that a housing is that a mounting cavity for mounting a tape housing is arranged in the top part, a slicing cavity for mounting a pressing block is arranged in the bottom part, a cutter chute is arranged in the left side, and a feeding bar is arranged at the right side; a cutter clamping groove is arranged in one side of the mounting cavity, and while a spring ball groove is arranged in the other side of the mounting cavity; a spring ball capable of being clamped into the spring ball groove is arranged at the bottom part of the tape housing; one end of the tape housing is connected with a feeding bar chute in the top part of the feeding bar through a first connecting circular cylinder; the bottom part of the feeding bar is connected with a pressing block chute through a second connecting circular cylinder; the side edge of the pressing block is connected with the housing through a spring; a connecting rod connected with a cable belt is arranged on the top part of the pressing block; the other end of the cable belt is connected with a cutter that is equipped with a spring; the cutter with the spring is mounted into the cutter cute, and the point of the cutter can be clamped into the cutter clamping groove. With the adoption of the sealing machine, the utilization efficiency of the tape can be increased, and the operation is convenient and quick; in addition, the tape is kept in a closed state when not in use, which prevents the tape from being polluted by dust, and the tape is also convenient to carry.

The invention provides a positioning and lubrication sealing structure of a bogie-suspension bearing gear box. The positioning and lubrication sealing structure comprises a six-bar linkage mechanism hollow shaft, wherein the six-bar linkage mechanism hollow shaft is connected with car wheels, penetrates through the interior of a gear box body, and is connected with a big gear core through six bars and an end tooth transmission disc; the six bars are provided with rubber joints; the outer sides of the two ends of the big gear core are supported on bearing seats through a first cylindrical bearing and a second cylindrical bearing respectively; the bearing seats are mounted on the gear box body; the end tooth transmission disc is fixed on the big gear core through end teeth and bolts; a first sealing ring is compressed by bolt pins in the end tooth transmission disc, thereby achieving axial positioning of the first cylindrical bearing; oil inlet channels, oil return channels and an oil baffle plate are arranged on the gear box body and the bearing seats, thereby achieving oil lubrication of the first and second cylindrical bearings as well as sealing of the gear box body; and lubricating oil from two sides of the gear box body passes through a first labyrinth cavity, a second labyrinth cavity, a third labyrinth cavity, the first oil return channel, the second oil return channel, the third oil return channel, a middle buffer cavity and a final buffer cavity, and then indirectly flows back to an inner cavity of the gear box body.

The invention discloses a municipal road rainwater automatic drainage device which comprises a tank body, a lifting mechanism fixed on the side wall of the tank body, and an inner water tank fixed bythe lower end of the lifting mechanism and controlling water storage and weight increasing by flow in the tank body. The bottom of the inner water tank is provided with a flow control valve, the upperportion of the tank body is provided with a cover plate which is fixed with the upper end of the lifting mechanism and is used for covering the tank body, the lifting mechanism is a six-link mechanism composed of six mutually-connected connecting rods, an upper shaft of the six-link mechanism is connected with the cover plate, a lower shaft of the six-link mechanism is connected with the inner water tank, a middle shaft of the six-link mechanism is fixed to the side wall of the tank body, and the lower portion of the tank body is provided with a water discharging port the same as a municipaldischarging port. The municipal discharge cover plate is automatically lifted when the rainfall is large by utilizing the water flow speed control and water storage weight, the cover plate is automatically closed when it stops raining, and plenty of work of manually opening the cover plate during rainstorm early warning each time to increase the water flow speed and returning the cover plate againwhen the rainstorm is over can be omitted.

Disclosed is a six-bar linkage positioning mechanism mounted inside a clean container formed of a locating member and a four-bar linkage and a driving module which, when moved, has the slide of the driving module stopped at the base of the cleaning container and be forced to move upwards relative to a sliding way inside the locating member and to cause the driving link of the driving module to drive the four-bar linkage upwards and to further force the second link of the four-bar linkage to push workpieces in respective insertion slots in a cassette on the clean container. The six-bar linkage positioning mechanism has only one degree of freedom so that it moves workpieces horizontally in the cassette into position by means of contact at a point, preventing contamination due to friction and also improving moving stability.

The invention relates to a mountain exploration off-road vehicle based on a six-bar mechanism. The mountain exploration off-road vehicle comprises a power transmission system, a steering system, a suspension supporting structure, an energy supply system and a monitoring system, wherein the power transmission system is connected with the steering system through a transmission shaft and connected with the suspension supporting structure through spherical hinges, and the energy supply system and the monitoring system are mounted on the suspension supporting structure. The suspension supporting structure is provided with the six-bar mechanism, so that the degree of freedom of the vehicle rotating along an X axis and a Y axis. The mountain exploration off-road vehicle is high in degree of freedom, strong in obstacle crossing ability, good in transmission performance and used for exploring and monitoring complex terrains.

The invention discloses a manipulator gripper. The manipulator gripper comprises a mounting frame and two clamping units. A drive device is arranged on the mounting frame. Each clamping unit comprisesa clamping structure, a driven connecting rod assembly and a driving connecting rod assembly. The other end of each driven connecting rod assembly is hinged to the mounting frame. The other end of each driving connecting rod assembly is arranged at the output end of the drive device. According to the manipulator gripper, objects such as cuboid objects as well as curved-surface-shaped objects suchas cylindrical objects can be clamped by the clamping units; when the cuboid objects are clamped, the driving connecting rod assemblies are regarded as a whole, the driven connecting rod assemblies are regarded as a whole, and the two clamping units are essentially a four-connecting-rod mechanism. When the cylindrical objects are clamped, the driving connecting rod assemblies, the driven connecting rod assemblies and the clamping structures form a six-connecting-rod mechanism. The manipulator gripper can clamp objects in different shapes and can be widely applied to the technical field of robots.

A six-bar linkage mechanism for conforming to the configuration of a tractored surface having a central link defined by a tool body and a saddle link spaced from the central link and movable for conforming with the tractored surface. A pair of front links each having pivotal connection with respective ends of the saddle link and having linearly movable pivotal connection with the central link to permit angular and spacing changes of the saddle link relative to the central link. A pair of centralizer links are located between the front links and have pivotal connections with the saddle link and pivotal connections with the central link. One of the pivotal connections is linearly movable on the central link. For tractor tools, when the tractored surface is a wellbore or well pipe, a plurality of six-bar linkages radiate from a tool body for surface conforming traction with the tractored surface.

The invention discloses a swinging conveyor, comprising a motor fixed on a worktable, the motor is connected with a transmission mechanism, and a six-link mechanism, the crank of the six-link mechanism is connected with the transmission mechanism The lower end of the connecting rod of the six-bar linkage mechanism is connected to the feeding chute, and the material is placed on the feeding chute. The transmission mechanism of the invention has the function of deceleration. The motor transmits power to the six-link mechanism through the transmission mechanism, so that the crank on the six-link mechanism rotates to drive the connecting rod to move back and forth on the feeding chute, and is placed in the feeding chute. The material on the top moves along the feeding trough with the thrust of the connecting rod, and the material constantly moves from left to right to achieve the effect of conveying goods.

The invention discloses a movable chassis with terrain adaptability and belongs to the technical field of machinery. The movable chassis adopts a left-right symmetrical structure and is characterized in that link gears on the left side and the right side are both six-bar linkage mechanisms which are connected through connecting rods; two small wheels are arranged on the front side and the back side of the movable chassis and are universal wheels; two large wheels are arranged on the left side and the right side of the movable chassis and connected with a rack through compression rings. The movable chassis has the advantages that the obstacle crossing capability, the motion stability and the rollover resistance of the movable chassis can be improved substantially; the movable chassis is concise in structure and high in practicability, has better portability and can be applied to quadricycles, mobile robots and the like.

The invention belongs to the field of medical equipment, and particularly relates to a guide wire clamping mechanism of a minimally invasive surgery robot. The guide wire clamping mechanism comprisesa clamping motor, a bottom block, a top block, a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod. An output shaft of the clamping motor is hinged to one end of the first connecting rod, the other end of the first connecting rod is hinged to one end of the second connecting rod and one end of the third connecting rod, and the top block is hinged tothe other end of the second connecting rod. The other end of the third connecting rod is hinged to one end of the fourth connecting rod, the other end of the fourth connecting rod is hinged to a fixedhinge support, and a planar six-link mechanism is formed by the first connecting rod, the second connecting rod, the third connecting rod, the fourth connecting rod, the top block and the bottom block. The clamping motor drives the planar six-link mechanism to move, a guide wire penetrates between the bottom block and the top block, and when the top block abuts against the bottom block, the guidewire is clamped. The clamping mechanism is simple in structure and reliable in clamping.

The invention belongs to the technical field of ring spinning doffing equipment and discloses a son-mother trolley doffer six-connecting-rod guiding track abutting connection self-locking mechanism which comprises a base, three connecting rods, a swinging rod, a stirring rod, six shafts, three spring pieces and a protruding block. A six-connecting-rod mechanism, a long groove, an L-shaped groove, the spring pieces and the like are used, guiding track abutting connection and self-locking functions are achieved in a comprehensive mode, the mechanism is used in an automatic doffing device which is in a son-mother trolley form and can be adaptive to the heights of upper guiding tracks of spinning frames with different specifications, a horizontal guiding track of a doffing mother trolley and an upper guiding track of a spinning frame are aligned, a doffing son trolley can walk to the upper guiding track of the spinning frame in a smooth mode from the horizontal guiding track of the doffing mother trolley, meanwhile, the doffing mother trolley is fixedly connected with the spinning frame temporarily, when the doffing son trolley completes doffing and is backed to enter the doffing mother car, fixing connection of the doffing mother trolley and the spinning frame can be removed automatically, the mechanism can be restored to the initial state, and reusing is convenient.

The invention relates to fracture reduction recovery instruments, in particular to an adjustable thoracolumbar vertebral fracture reduction recovery three-dimensional retractor. An adjustable tension arch device, a binding band, a movable pulley set, a fixed pulley set and a fixing piece are arranged. The adjustable tension arch device is provided with a six-connecting-rod mechanism, a left screw rod, a right screw rod and a central adjusting screw rod. The six-connecting-rod mechanism is provided with a first rod piece, a second rod piece, a third rod piece, a fourth rod piece, a fifth rod piece and a sixth rod piece, the lower end of the first rod piece is in screw joint with the upper end of left screw rod, the lower end of the third rod piece is in screw joint with the upper end of the right screw rod, the two ends of the second rod piece are hinged to the upper end of the first rod piece and the upper end of the third rod piece, the upper end of the fourth rod piece is hinged to the third rod piece, the upper end of the sixth rod piece is hinged to the first rod piece, the two ends of the fifth rod piece are hinged to the lower end of the fourth rod piece and the lower end of the sixth rod piece, the central adjusting screw rod penetrates through the second rod piece and is in threaded fit with the second rod piece, and the lower end of the central adjusting screw rod is movably connected with the fifth rod piece. The binding band is provided with a transverse binding band body, the two sides of the transverse binding band body are connected with the left screw rod and the right screw rod, and the movable pulley set is arranged at the upper end of the central adjusting screw rod. The fixed pulley set is arranged on the fixed piece, and a pull rope is arranged between the moveable pulley set and the fixed pulley set.

The invention discloses a six-linkage shedding mechanism for driving six heald frames. The six-linkage shedding mechanism consists of a crankshaft and six sets of six-linkage mechanisms with the same structure, wherein six crank throws are arranged on the crankshaft, and the phases of the six crank throws are the same or are different by 180 degrees; cranks of the six-linkage mechanisms are connected with the six crank throws in one-to-one correspondence, the six-linkage mechanisms are driven by the crankshaft, and each heald frame is driven by the corresponding six-linkage mechanism through a middle rod and a push rod assembly. According to the six-linkage shedding mechanism, a traditional cam mechanism is replaced by virtue of the six-linkage mechanisms, the six heald frames can be simultaneously driven by the six-linkage mechanisms, and by virtue of the different phases of the six crank throws, multiple twill fabrics can be woven. A hinged linkage mechanism has the advantages that the structure is simple, the stress on a revolute pair is smaller than that on a lower pair and the revolute pair is smoothly stressed and slightly impacted, and the hinged linkage mechanism is particularly suitable for modern high speed looms, so that plain and twill fabrics can be perfectly woven by the six heald frames, and the impact and abrasion caused by the vibration of a loom to all parts on the shedding mechanism can be reduced.

Disclosed is a parallel mechanism containing a prr open-loop sub-chain and a pprpr closed-loop sub-chain. The parallel mechanism comprises an actuator sub-chain and a six-bar linkage closed-loop sub-chain. The six-bar linkage closed-loop sub-chain can control a third connection bar to move in a plane where the six-bar linkage closed-loop sub-chain is in, and motion of a first connection bar and the third connection bar can achieve space motion of a movable platform. The parallel mechanism is achieved by controlling a closed-loop sub-chain, and the space motion of the movable platform is achieved through the space motion of the closed-loop sub-chain, the first connection bar and the third connection bar. The parallel mechanism has the advantages of being compact in structure and simple to control. All connection bars are connected onto a rack and can be made to be light bars, so that the mechanism motion inertia is small, and the dynamic performance is good.

The invention relates to the technical field of force bearing structures, in particular to a strengthened safe student desk and chair assembly capable of resisting earthquake and avoiding risk. The student desk and chair assembly comprises a desk top, a front baffle, a foot rest, an asymmetric triangular supporting frame, a rotating shaft supporting rod positioned below the desk top, a fixed bookshelf in front of the desk top, a bilateral six-bar linkage device, a stool and a supporting gear rod; the bilateral six-bar linkage device which is designed specially is connected with the desk top and the asymmetric triangular supporting frame, and is an important mechanism allowing the desk top to move along a designed track; the desk top is clung to the asymmetric triangular supporting frame and coplanar with the foot rest, and the desk top, the foot rest and the front baffle constitute two protection surfaces of a triangular space in an earthquake resisting and risk avoiding state. Compared with a common student desk, the strengthened safe student desk and chair assembly has the advantages that the bearing capacity of the desk can be greatly improved by the asymmetric triangular supporting frame in a pressure dispersing manner, and enough space for allowing students to avoid risk is provided by the triangular supporting frame; the bookshelf is designed at the part higher than the front part of the desk, so that good convenience is provided for reading and studying; and the desk and chair assembly is convenient to manufacture, operate and use, simple and low in cost.

A simulation golden jellyfish robot based on a six-bar mechanism The robot comprises a servo motor, crank rocker mechanism, six bar linkage, tail unit and movable chassis, the servo motor comprising afirst servo motor and a second servo motor, A six-bar mechanism is driven by a crank rocker mechanism driven by a first servo motor, thereby controlling the forward behavior of the robot, the tail device is driven by a second servo motor to control the turning behavior of the robot, The crank-rocker mechanism comprises a crank, a connecting rod and a rocker, the rocker is connected with the movable chassis through a pin shaft, the six-bar mechanism comprises a frame, a first strut, a second strut, a third strut, a fourth strut and an L-bar, and the tail device comprises a tail frame, a movable fin, a connecting rod and a rotating frame. The simulation golden jellyfish robot has the characteristics of accurate speed and direction control, lightweight structure, flexible obstacle avoidanceand high propulsion efficiency, and is suitable for the fields of seafloor water resources exploration and seafloor exploration.

The invention belongs to a ride type body-building recreation toy. The ride type body-building recreation toy comprises a six-connecting-bar mechanism (20); the six-connecting-bar mechanism (20) is composed of three connecting bars B (20-2), a connecting bar A (20-3) and a handle bar (31); the left end of each connecting bar B (20-2) is movably connected with the connecting bar A (20-3) through a small shaft (20-4); the right end of each connecting bar B (20-2) is movably connected with a connecting lug base (20-1) through a small shaft (20-4); and the connecting lug base (20-1) is fixed to the handle bar (31). The ride type body-building recreation toy has no noise during walking and walks through pedaling; walking is better trained; the ride type body-building recreation toy is flexible in steering; pleasure of children is increased through models of various animals.

The invention provides a six-connecting-rod control device for a heat-insulating cover of a hot-metal bottle. Two six-connecting-rod mechanisms are separately connected to two sides of a heat-insulating cover, and is supported by an upper fixing hinged point and a lower fixed hinged point which are positioned beside the hot-metal bottle on a hot-metal car. The six-connecting-rod mechanism comprises a cover connecting rod, an upper driving rod, a lower driving rod, an upper driven rod and a lower driven rod, and the cover connecting rod is fixedly connected with the heat-insulating cover; one end of the lower driving rod is hinged to a lower fixing hinged point, and the other end of the lower driving rod is hinged to one end of the cover connecting rod; one end of the upper driving rod is hinged to the upper fixing hinged point while the other end is hinged to the upper driven rod and the lower driven rod; one end of the upper driven rod is hinged to the middle of the cover connecting rod while the other end is hinged to the upper driving rod and the lower driven rod; and one end of the lower driven rod is hinged to the upper driving rod and the upper driven rod while the other endis hinged to the lower driving rod. The six-connecting-rod control device for the heat-insulating cover of the hot-metal bottle is used for controlling the heat-insulating cover of the hot-metal bottle, and opening and closing of the heat-insulating cover can be operated conveniently, rapidly and safely.